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1. (WO2018100839) INFORMATION PROCESSING DEVICE, IMAGING DEVICE, APPARATUS CONTROL SYSTEM, INFORMATION PROCESSING METHOD, AND COMPUTER PROGRAM PRODUCT

Pub. No.:    WO/2018/100839    International Application No.:    PCT/JP2017/033052
Publication Date: Fri Jun 08 01:59:59 CEST 2018 International Filing Date: Thu Sep 14 01:59:59 CEST 2017
IPC: G06K 9/00
G06T 5/00
Applicants: RICOH COMPANY, LTD.
MOTOHASHI, Naoki
TAKAHASHI, Sadao
Inventors: MOTOHASHI, Naoki
TAKAHASHI, Sadao
Title: INFORMATION PROCESSING DEVICE, IMAGING DEVICE, APPARATUS CONTROL SYSTEM, INFORMATION PROCESSING METHOD, AND COMPUTER PROGRAM PRODUCT
Abstract:
An information processing device includes a disparity information input unit 151 configured to acquire disparity image data indicating a disparity image including a disparity; a V map generating unit 152 configured to generate a V map indicating a frequency of the disparity for each of coordinates of the disparity image by voting the disparity at a position corresponding to the coordinate of each of pixels of the disparity image based on the disparity image data; a shape estimating unit 156 configured to estimate a road surface shape based on the V map; a height table generating unit 157 configured to generate a height table indicating a relationship between the disparity and a height of a road surface based on the estimated road surface shape; and a correcting unit 161 configured to correct, based on rolling information on rolling of a stereo camera that acquires the disparity, information used to generate information indicating the road surface shape so as to cancel out an influence of the rolling.